Design and Realization of a Biped Robot Using Stepper Motor Driven Joints

This paper introduces the design and realization process of a biped robot with stepper motor driven joints. The robot mechanism, system configuration, communication protocol, and basic control algorithm are presented in detail. By exploiting the advantages of stepper motors we constructed a biped robot that simulates human walking. In addition to its basic practicability, this robot can be equipped with several sensors and can therefore be made suitable for the completion of scientific projects. The effectiveness of the presented system was tested and confirmed by walking experiments on our 12-degree-of-freedom biped robot